EURON07 WINTER SCHOOL

PARALLEL ROBOTS: Theory and Applications

2nd International UMH Robotics Winter School
Flamingo Oasis Hotel, Benidorm, Spain
March 26 - 30, 2007

Aerospace applications of PKM

Prof. Rosario Sinatra

Dipartimento di Ingegneria Industriale e Meccanica

Università degli Studi di Catania

March 30, 2007

 AEROSPACE MECHANISMS
POINTING SYSTEMS FOR SATELLITE ANTENNAS

Sinatra Rosario
Pirrotta Simone

THE SATELLITE
COMMUNICATIONS
REQUIRES A VERY
ACCURATE POINTING
SYSTEM, COMPOSED BY
DIFFERENT ELECTRO- CONTROL SYSTEM SCHEME FOR POINTING ERROR COMPENSATION
MECHANICAL DEVICES

RESEARCH PROJECTS IN WITH PARTNERSHIP WITH

ANTENNA MECHANICAL and MECHANISM DESIGN SECTION, ING. ABERTO MESCHINI

 AEROSPACE MECHANISMS
POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA

SUBREFLECTOR

W24
PARABOLIC
FEED REFLECTOR

OLD PONTING CONCEPT NEW PONTING CONCEPT

 AEROSPACE MECHANISMS
POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA

RE-POINTING BY SUBREFLECTOR
RADIATION DIAGRAM DYNAMIC POSITIONING

ORBITAL RE-POINTING
 AEROSPACE MECHANISMS
POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA

MOBILE
PLATFORM

LEGS

FIXED
PLATFORM

SPHERICAL
JOINT

PRISMATIC KINEMATIC EQUATION

JOINT p  O O  O O  O C  (Q  C O )
P S P 1i 1i i i S

UNIVERSAL qi  [ p  Qri'  u i ] T [ p  Qri'  u i ]

JOINT q  J  t
  J  t  J  t
q
 AEROSPACE MECHANISMS
POINTING SYSTEM FOR DOUBLE REFLECTOR ANTENNA

Disturbo totale in normal mode Traiettoria del centro del subriflettore

0.1

asse Z (mm)
ORBITAL 0.08

DISTURBANCE 0.06 476.7

476.6
SUBREFLECTOR’S
SIGNAL
gradi

0.04
476.5

CENTRE 3D-PATH
(STATION
476.4
0.02
476.3 -0.4
-0.3

KEEPING)
476.2
0 -0.2
-80.7
-80.6 -0.1
-80.5
-80.4 0
-0.02 -80.3
0 500 1000 1500 2000 2500 3000 3500 4000 asse Y (mm) -80.2 0.1 asse X (mm)
t (secondi)

DISPLACEMENT
Elongazioni dei giunti attuati
x 10
-3 VELOCITY
Velocità dei giunti attuati
x 10
-5 ACCELERATION
Accelerazioni dei giunti attuati
1 5 8
L1

0 0 0
L1

L1
-1 -5 -8
0 500 1000 1500 2000 2500 3000 3500 4000 0 500 1000 1500 2000 2500 3000 3500 4000 0x 10-4 500 1000 1500 2000 2500 3000 3500 4000
5 0.02 2

KINEMATICS
0 0 0
L2

L2
L2

-5 -0.02 -2 -4
0 500 1000 1500 2000 2500 3000 3500 4000 0 500 1000 1500 2000 2500 3000 3500 4000 0x 10 500 1000 1500 2000 2500 3000 3500 4000
1 0.01 1

VARIABLES OF

L3
0 0 0
L3

L3

THE ACTUATED
-1 -0.01 -1
0 500 1000 1500 2000 2500 3000 3500 4000 0 500 1000 1500 2000 2500 3000 3500 4000 0x 10-4 500 1000 1500 2000 2500 3000 3500 4000
2 0.01 1
L4

0 0

L4
0

PRISMATIC
L4

-2 -0.01 -3 -1 -5
0 500 1000 1500 2000 2500 3000 3500 4000 0x 10 500 1000 1500 2000 2500 3000 3500 4000 0x 10 500 1000 1500 2000 2500 3000 3500 4000
1 5 8

JOINTS 0

L5
0 0
L5

L5

-1 -5 -3
-8 -5
0 500 1000 1500 2000 2500 3000 3500 4000 0x 10 500 1000 1500 2000 2500 3000 3500 4000 0x 10 500 1000 1500 2000 2500 3000 3500 4000
0.5 2 3
L6

0 0 0

L6
L6

-0.5 -2 -3
0 500 1000 1500 2000 2500 3000 3500 4000 0 500 1000 1500 2000 2500 3000 3500 4000 0 500 1000 1500 2000 2500 3000 3500 4000

t (secondi) t (secondi) t (secondi)

 AEROSPACE MECHANISMS
2 DOF POINTING SYSTEM

MOBILE PLATFORM

LINEAR
ACTUATOR

FIXED PLATFORM

 
s12  s1 2 z A0  2 z B 0 cos  1 cos  2  2 b sin  2 cos  1  sin  1  

 2  z B 0 sin  2  z B 0 sin  1 cos  2 
b 2  cos  1  cos  2  sin  1 sin  2   2 b  z sin  cos   z sin  
  A0 2 1 A0 1   0

 2 z z cos  cos   l 2  z 2  z 2 

 A0 B 0 1 2 B0 A0 
 2
 
s 2  s 2 2 z A0  2 z B 0 cos  1 cos  2  2 b sin  2 cos  1  sin  1  

b 2 2  cos   cos   sin  sin    2 b z B 0 sin  2  z B 0 sin  1 cos  2 
 1 2 1 2   z sin  cos   z sin    0
 A0 1 
  2 1 A0
 2 2 2
 2 z A0 z B 0 cos  1 cos  2  l  z B 0  z A0 


POINTING CONTROL RELATIONS

 AEROSPACE MECHANISMS
2 DOF POINTING SYSTEM

MATLAB GUI FOR DIRECT AND

INVERSE KINEMATICS MATLAB GRAPHICS OUTPUT

1.3511 101  s1  s2  

  POINTING

3 3
 
1    8.109110 8  s1  s2  2.6367 7  s1 s2  s2 s1
2 2

 [deg]
 SURFACE
  
  1.1986 108  s13 s2  s2 3 s1  6.32139  s14  s2 4
 


1 = f(s1, s2)

 
1.3511 10 1  s1  s2   1.0636 10 5  s12  s2 2 


 3
3

 2    1.2428 10 7  s1  s2  1.88327  s1 s2  s2 s1
2 2

 [deg]

 
  1.03848  s14  s2 4 

 AEROSPACE MECHANISMS
2 DOF POINTING SYSTEM

45

RESIDUALS
40
Media Dev. st.

Frequenza percentuale [%]

35 -4.3360E-06 8.9632E-05

30
[deg] [deg]
MAP AND
25
DISTRIBUTION
20

15
WITH RESPETC
10 TO ANALYTIC
5

0
POINTING
-0.000179 -0.000124 -0.000068 -0.000012
Residuo su j1 [deg]
0.000044 0.000100 RELATIONS

0.005
s2=-25 [mm] s2=-20[mm] s2=-15 [mm]

COMPARISON WITH 0.004 s2=-10[mm] s2=-5 [mm] s2=0 [mm]

s2=5 [mm] s2=10[mm] s2=15 [mm]
CAD “EUCLID” 0.003 s2=20[mm] s2=25 [mm]

KINEMATIC RESULTS
(j1s-j1CAD) [deg]

0.002
0.001
0.000
-0.001
-0.002
-0.003
-0.004
-30 -20 -10 0 10 20 30
Elongazione s1 [mm]
 AEROSPACE MECHANISMS
ULTRASONIC MOTOR

STATOR
ROTORS

PIEZOELECTRICS

ELECTRICAL
STATOR
2 Supply Flexural
Channels vibration
Travelling
Equal amplitude 2 waves with wave
VmaxA=VmaxB time phase
Opposite phase (90°) of 90°

ROTORS
Rotational
motion
around
vertical axes
AEROSPACE MECHANISMS
ULTRASONIC MOTOR

MULTIBODY SYSTEM

PRELOAD FORCE

NORMAL AND TANGENTIAL FORCES

FROM ROTOR TO STATOR

NORMAL AND TANGENTIAL FORCES

FROM STATOR TO ROTOR

EXTERNAL TORQUE
 AEROSPACE MECHANISMS
ULTRASONIC MOTOR

  C stat  p  K stat  p  Θ  v  FN (p, w f )  FT (p, w f , p , )

M stat  p
 f  C z  w f  Fint (p, w f )  Fapp
Mr  w
I r    C     int (p, w f , p ,  )   app
Stator's outer radius - rse

Teeth outer radius - rte

Interface thickness - t i

Tooth height - ht
Teeth inner radius - rti
Piezo elements' outer radius - rpe

Piezo elements' inner radius - rpi

Stator's inner radius - rsi

EQUATIONS OF MOTION Piezo elements' thickness - t p Stator thickness - ts

 p   0 n ,n I n ,n   p   0 n ,n
 
    M 1 K   M 1 C 
02 n ,4     M 1 02 n ,n 
 p    p      
0 1 0 0  0 0  v  FN  FT 
     C 
  


1  
 0 0 0     0     int   app 
     
    04 ,2 n Ir   0 Ir  
w f   0 0 0 1  w   4 ,n 0 0   Fint  Fapp 
    Cz   f   1 
 f 
w 0 0 0  w f   0 
 I r     M r 
AEROSPACE MECHANISMS
ULTRASONIC MOTOR
5
x 10
3

2.5

AREA-FORCE RELATIONSHIP
2

1.5

Pressure [N/m2]
1

Fapp  C E  2rt 2 Fapp  2  C E

Hertz
xl 1,6
0.5 Hertz second formulation
l    3
 0,8 
0
Linear stiffness
rt 2  rt N At r N 3 At r
Visco-elastic contact

-0.5
-0.25 -0.2 -0.15 -0.1 -0.05 0 0.05 0.1 0.15 0.2 0.25

Contact angle l [rad]

l
FN  2  N  t r   2   Φ w  p ( )  rt d  a) z T res
 0  T m ot +
V stat
  l Φ  Dv>0
FT  2  N  tr   d  hm  2   w
 p ( )  rt d   2  N  (2Tmot  )
 0   V rot
-x r -x l xl xr x
  r Φ  z T res
 2  0 w
 p ( )  rt d  b)

FT  2  N  t r   d  hm   T m ot + T mot -

Dv = 0
  l Φ 
  2    p ( )  rt d  V rot
w Dv>0
 r   Dv< 0

V stat
 2  N  (2Tmot   2Tmot  )
-x l -x r xr xl x

l
 app    rt  2  N  t r   d  hm  2   p ( )  rt d     rt  2  N  (2Tmot  )
 0 
TORQUE
r l
CALCULATION  app    rt  2  N  t r   d  hm   2   p( )  rt d  2   p( )  rt d  
 0 r 
   rt  2  N  (2Tmot   2Tmot  )
 AEROSPACE MECHANISMS
ULTRASONIC MOTOR
Torque-speed curves (Vmax =300 V, d =0.07, h =0.05)
0.6
Prec=1 N
Prec=5 N
0.5 Prec=10 N
Prec=15 N
Prec=20 N
0.4 Prec=25 N

Torque [Nm]
Prec=30 N
Prec=38 N
0.3 Prec=45 N
Prec=60 N
Prec=80 N
0.2 Prec=100 N
Prec=130 N

0.1

0.0
0.0 0.2 0.4 0.6 0.8 1.0 1.2 1.4 1.6
Speed [rad/s]

ULTRASONIC Torque-speed curve

MOTOR (F app =39.8N, V max =300V, N =7, md =0.23, h =0.08)
1.2

1.0
Experimental
0.8
Torque [Nm]

Symulated
0.6

0.4
TACHOMETER
0.2

0.0
LOAD 0.0 0.2 0.4 0.6 0.8 1.0 1.2
PULLEY WEIGHT
Angular speed [rad/s]
 AEROSPACE MECHANISMS
ULTRASONIC MOTOR

Torque-speed curves (Prec =10 N, d =0.07, h =0.05) Torque-speed curves (Prec =40 N, d =0.07, h =0.05)

0.08 0.3
Vmax=100 V Vmax=100 V
Vmax=150 V Vmax=150 V
0.07
Vmax=200 V 0.25 Vmax=200 V
Vmax=250 V Vmax=250 V
0.06
Vmax=300 V Vmax=300 V
Vmax=350V 0.2 Vmax=350V
Torque [Nm]

Torque [Nm]
0.05

0.04 0.15

0.03
0.1
0.02
0.05
0.01

0 0
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6 1.8 0 0.5 1 1.5 2 2.5
Speed [rad/s] Speed [rad/s]

Torque-speed curves (Prec =15 N, Vmax =300 V, h =0.05)

0.3



TORQUE-SPEED CURVES
0.25 

0.2 
PARAMETRIZED WITH RESPECT TO:
Torque [Nm]



0.15
1-MAXIMUM VOLTAGE AMPLITUDE


0.1
(CASE a and b)
0.05

0
2-FRICTION COEFFICIENT
0 0.2 0.4 0.6 0.8 1 1.2 1.4 1.6
Speed [rad/s]
 References

A. Meschini, R. Sinatra and S. Pirrotta, 2002. A Parallel Mechanism for a Gregorian offset Satellitare Antenna
with double reflector, Proceedings of the WORKSHOP on Fundamental Issues and Future Research
Directions for Parallel Mechanisms and Manipulators, October 3–4, Quebec City, Quebec.

A. Cammarata and R. Sinatra, 2005, Dynamics of a two-dof parallel pointing mechanism,

Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control,
Sept. 24-28, 2005, Long Beach, California, USA.

R. Di Gregorio, A. Cammarata and R. Sinatra, 2005, On The Dynamic Isotropy Of 2-Dof Mechanisms,
Fifth ASME International Conference on Multibody Systems, Nonlinear Dynamics and Control,
Sept. 24-28, 2005, Long Beach, California, USA.

R. Sinatra, D. Scalora and A. Meschini, 2004, Direct Kinematics of a Parallel Pointing Mechanism Configuration,
Proceedings of the WSEAS Conferences, August 17-19, 2004, Corfu, Greece.

S. Pirrotta, R. Sinatra, A. Meschini, 2006. Evaluation of the Effect of Preaload Force on

Resonance Frequencies for a Traveling Wave Ultrasonic Motor, IEEE Transactions on ultrasonics,
ferroelectrics, and frequency control, Vol. 53, n.4, pp. 746-753.

S. Pirrotta, R. Sinatra and A. Meschini, 2007. A novel simulation model for ring type ultrasonic motor,
Meccanica International Journal, Vol. 42, n.2, pp. 127-139.